[37] | 1 | % * This code was used in the following articles:
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| 2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
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| 3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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| 4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
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| 5 | % * (best paper)
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| 6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
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| 7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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| 8 | % * In ICCV workshop on Virtual Representations and Modeling
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| 9 | % * of Large-scale environments (VRML), 2007.
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| 10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
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| 11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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| 12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
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| 13 | % * [6] Learning Depth from Single Monocular Images,
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| 14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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| 15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
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| 16 | % *
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| 17 | % * These articles are available at:
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| 18 | % * http://make3d.stanford.edu/publications
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| 19 | % *
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| 20 | % * We request that you cite the papers [1], [3] and [6] in any of
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| 21 | % * your reports that uses this code.
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| 22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
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| 23 | % * then please cite [2].
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| 24 | % *
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| 25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
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| 26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
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| 27 | % *
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| 28 | % * Finally, this code is for non-commercial use only. For further
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| 29 | % * information and to obtain a copy of the license, see
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| 30 | % *
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| 31 | % * http://make3d.stanford.edu/publications/code
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| 32 | % *
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| 33 | % * Also, the software distributed under the License is distributed on an
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| 34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
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| 35 | % * express or implied. See the License for the specific language governing
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| 36 | % * permissions and limitations under the License.
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| 37 | % *
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| 38 | % */
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| 39 | function ReportPlaneParaMRF_Conditioned(Default, step, DepthFolder,... |
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| 40 | Sup, SupOri, MedSup,depthMap,VarMapRaw,RayOri, Ray, SupNeighborTable,... |
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| 41 | MedRay,maskSky,maskG,Algo,k, CornerList, OccluList,... |
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| 42 | MultiScaleSupTable, StraightLineTable, HBrokeBook, VBrokeBook,previoslyStored,... |
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| 43 | baseline); |
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| 44 | % This function runs the RMF over the plane parameter of each superpixels |
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| 45 | |
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| 46 | % step = nothing |
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| 47 | % Sup = Superpixel, in 2-d matrix. |
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| 48 | % SupOri = original superpixel before cleaning |
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| 49 | % MedSup = median size superpixel |
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| 50 | % RayOri = Rays without stiching to the boundary. |
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| 51 | % Ray = rays after stiching |
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| 52 | % SupNeigborTabl = 2d sparse matrix |
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| 53 | % Algo = not used |
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| 54 | % k = not used |
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| 55 | % CornerList = not used |
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| 56 | % OccluList = not used |
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| 57 | % MultiScaleSupTable = multiple scale segmentation, used to define the weights betwenn the stiching terms. |
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| 58 | % StraightLineTable = straight line stiching, not used anymore. |
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| 59 | % HBrokeBook, VBrokeBook = occlusion, not used |
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| 60 | % baseline = using only tyhe bias term |
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| 61 | |
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| 62 | if nargin <20 |
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| 63 | baseline = 0; |
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| 64 | end |
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| 65 | solverVerboseLevel = 0; |
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| 66 | FlagRemoveVerticalSupport = 1; |
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| 67 | ExtractRelationInfo = 1; |
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| 68 | VarMap = zeros( size(VarMapRaw)); |
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| 69 | % ============== parameters for the decomposition problem |
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| 70 | % Optimal parameters for current code: |
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| 71 | % For one machine: Sedumi: (1,1) Lpsolve:(3,1) |
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| 72 | % Multiple machines: Sedumi: (4,1) LPsolve:(3,1) |
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| 73 | % lpsolve running time is 22 seconds for (4,2) arrangement; but numerical |
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| 74 | % accuracy needs to be resolved first. |
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| 75 | XNuDecompose = 1; %3 is stable |
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| 76 | YNuDecompose = 1; |
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| 77 | % ============ parameters for the decomposition problem |
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| 78 | |
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| 79 | inferenceTime = tic; |
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| 80 | |
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| 81 | fprintf(['\n : Building Matrices.... ']); |
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| 82 | |
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| 83 | % initialize parameters |
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| 84 | GridFlag = 0; |
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| 85 | NOYALMIP = 0; %1; |
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| 86 | NEW_OPTIMIZATION = 1; |
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| 87 | |
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| 88 | NoSecondStep = 0; |
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| 89 | displayFlag = false; |
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| 90 | RenderVrmlFlag = true; |
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| 91 | PlaneParaSegmentationFlag = false; |
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| 92 | Catsh1stOptFlag = false; % 3.8 added new storage flag |
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| 93 | |
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| 94 | scale = 1; |
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| 95 | StickHori = 5; %0.1; % sticking power in horizontal direction |
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| 96 | StickVert = 10; % sticking power in vertical direction |
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| 97 | Center = 2; % Co-Planar weight at the Center of each superpixel |
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| 98 | HoriConf = 1; % set the confidant of the learned depth at the middle in Horizontal direction of the image |
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| 99 | VertConf = 0.01; % set the confidant of the learned depth at the top of the image |
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| 100 | BandWith = 1; % Nov29 1 Nov30 0.1 check result change to 0.1 12/1 0.1 lost detail |
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| 101 | mapVert = linspace(VertConf,1,Default.VertYNuDepth); % modeling the gravity prior |
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| 102 | mapHori = [linspace(HoriConf,1,round(Default.HoriXNuDepth/2)) fliplr(linspace(HoriConf,1,Default.HoriXNuDepth-round(Default.HoriXNuDepth/2)))]; |
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| 103 | |
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| 104 | % ========set the range of depth that our model in |
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| 105 | ClosestDist = 1; |
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| 106 | % set the FarestDist to very 5 times to median depth |
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| 107 | FarestDist = 1.5*median(depthMap(:)); % tried on university % nogood effect but keep it since usually it the rangelike this % change to 1.5 for church |
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| 108 | % ERROR --- use more intelligent FarestDistance |
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| 109 | |
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| 110 | % ================================================ |
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| 111 | |
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| 112 | ceiling = 0*Default.VertYNuDepth; % set the position of the ceiling, related to No plane coming back constrain % changed for newchurch |
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| 113 | |
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| 114 | % The hand-tuned 14 dimensional vector. |
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| 115 | if ~isempty(MultiScaleSupTable) |
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| 116 | MultiScaleFlag = true; % multiple segmentaition hypothesis |
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| 117 | WeiV = 2*ones(1,size(MultiScaleSupTable,2)-1); |
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| 118 | else |
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| 119 | MultiScaleFlag = false; |
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| 120 | WeiV = 1; |
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| 121 | end |
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| 122 | WeiV(1,1:2:end) = 6; % emphasize the middle scale three times smaller than large scale |
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| 123 | WeiV = WeiV./sum(WeiV);% normalize if pair of superpixels have same index in all the scale, their weight will be 10 |
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| 124 | ShiftStick = -.1; % between -1 and 0, more means more smoothing. |
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| 125 | ShiftCoP = -.5; % between -1 and 0, more means more smoothing. |
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| 126 | gravity =true; % if true, apply the HoriConf and VertConf linear scale weight |
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| 127 | CoPST = true; % if true, apply the Straight line prior as the Co-Planar constrain |
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| 128 | |
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| 129 | %ConerImprove = false; |
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| 130 | %FractionalDepthError = true; |
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| 131 | |
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| 132 | |
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| 133 | % get rid of the error point and sky point in the depthMap |
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| 134 | % set every depth bigger than FarestDistmeter to FarestDistmeters |
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| 135 | %CleanedDepthMap = (depthMapif ~previoslyStored >80).*medfilt2(depthMap,[4 4])+(depthMap<=80).*depthMap; |
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| 136 | CleanedDepthMap = depthMap; |
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| 137 | %CleanedDepthMap(depthMap>FarestDist) = FarestDist; % don't clean the point >80 sometimes it occlusion |
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| 138 | %disp('Nu of depthMap>FarestDist'); |
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| 139 | %sum(sum(depthMap>FarestDist)) |
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| 140 | CleanedDepthMap(depthMap>FarestDist) = NaN; % don't clean the point >80 sometimes it occlusion |
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| 141 | |
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| 142 | Posi3D = im_cr2w_cr(CleanedDepthMap,permute(RayOri,[2 3 1])); |
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| 143 | % given the depth and ray as input, calculate the 3-d coordinate at each point. |
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| 144 | |
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| 145 | if ~previoslyStored |
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| 146 | |
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| 147 | %NewMap = [rand(max(Sup(:)),3); [0 0 0]]; |
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| 148 | |
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| 149 | % Clean the Sup near sky |
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| 150 | maskSky = Sup == 0; |
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| 151 | maskSkyEroded = imerode(maskSky, strel('disk', 4) ); |
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| 152 | SupEpand = ExpandSup2Sky(Sup,maskSkyEroded); |
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| 153 | NuPatch = Default.HoriXNuDepth*Default.VertYNuDepth-sum(maskSky(:)); |
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| 154 | |
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| 155 | NuSup = setdiff(unique(Sup)',0); |
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| 156 | NuSup = sort(NuSup); |
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| 157 | NuSupSize = size(NuSup,2); |
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| 158 | |
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| 159 | % Sup index and planeParameter index inverse map |
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| 160 | Sup2Para = sparse(1,max(Sup(:))); |
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| 161 | Sup2Para(NuSup) = 1:NuSupSize; |
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| 162 | |
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| 163 | % constructinf the Straight line prior matrix Will be add in the CoPlane matrix |
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| 164 | NuLine = size(StraightLineTable,2); |
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| 165 | CoPSTList = []; |
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| 166 | |
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| 167 | %effectively not running the straight line constraint here. |
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| 168 | for i = 1:NuLine |
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| 169 | L = StraightLineTable{i}; |
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| 170 | X = L(1:(end-1))'; |
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| 171 | Y = L(2:end)'; |
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| 172 | if isempty(X) |
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| 173 | continue; |
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| 174 | end |
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| 175 | for j = 1:size(X,1) |
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| 176 | if X(j)~=Y(j) |
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| 177 | CoPSTList = [CoPSTList; X(j) Y(j)]; |
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| 178 | end |
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| 179 | end |
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| 180 | end |
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| 181 | end |
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| 182 | |
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| 183 | % Generate the Matrix for MRF |
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| 184 | % =========================================================================================================================================== |
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| 185 | % If you go up in the vertical direction in the image, the weights change in the vertical direction. |
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| 186 | groundThreshold = cos([ zeros(1, Default.VertYNuDepth - ceil(Default.VertYNuDepth/2)+10) ... |
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| 187 | linspace(0,15,ceil(Default.VertYNuDepth/2)-10)]*pi/180); |
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| 188 | % v1 15 v2 20 too big v3 20 to ensure non misclassified as ground. |
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| 189 | % verticalThreshold = cos(linspace(5,55,Default.VertYNuDepth)*pi/180); % give a vector of size 55 in top to down : |
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| 190 | verticalThreshold = cos([ 5*ones(1,Default.VertYNuDepth - ceil(Default.VertYNuDepth/2)) ... |
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| 191 | linspace(5,55,ceil(Default.VertYNuDepth/2))]*pi/180); |
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| 192 | % give a vector of size 55 in top to down : |
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| 193 | % 50 means suface norm away from y axis more than 50 degree |
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| 194 | % =========================================================================================================================================== |
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| 195 | |
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| 196 | PosiM = sparse(0,0); |
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| 197 | VarM = sparse(0,0); |
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| 198 | RayMd = sparse(0,0); % Not used |
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| 199 | RayAllOriM = sparse(0,0); |
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| 200 | RayAllM = sparse(0,0); |
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| 201 | RayMtilt = sparse(0,0); % Not used |
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| 202 | RayMCent = sparse(0,0); % Not used |
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| 203 | DepthInverseMCent = []; % Not used |
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| 204 | DepthInverseM = []; % Not used |
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| 205 | YPointer = []; |
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| 206 | YPosition = []; |
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| 207 | beta = []; |
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| 208 | EmptyIndex = []; |
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| 209 | |
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| 210 | for i = NuSup |
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| 211 | % mask = Sup ==i; |
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| 212 | mask = SupEpand ==i; % include the Ray that will be use to expand the NonSky |
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| 213 | RayAllOriM = blkdiag( RayAllOriM, RayOri(:,mask)'); |
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| 214 | RayAllM = blkdiag( RayAllM, Ray(:,mask)'); |
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| 215 | mask = Sup ==i; % Not include the Ray that will be use to expand the NonSky |
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| 216 | [yt x] = find(mask); |
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| 217 | CenterX = round(median(x)); |
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| 218 | CenterY = round(median(yt)); |
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| 219 | YPointer = [YPointer; CenterY >= ceiling]; |
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| 220 | YPosition = [YPosition; CenterY]; |
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| 221 | mask(isnan(CleanedDepthMap)) = false; |
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| 222 | SupNuPatch(i) = sum(mask(:)); |
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| 223 | |
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| 224 | % find center point |
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| 225 | [yt x] = find(mask); |
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| 226 | CenterX = round(median(x)); |
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| 227 | CenterY = round(median(yt)); |
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| 228 | |
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| 229 | if ~all(mask(:)==0) |
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| 230 | if gravity |
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| 231 | if any(CleanedDepthMap(mask) <=0) |
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| 232 | CleanedDepthMap(mask) |
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| 233 | % pause |
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| 234 | end |
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| 235 | Pa2CenterRatio = median(CleanedDepthMap(mask))./CleanedDepthMap(mask); |
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| 236 | if sum(mask(:)) > 0 |
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| 237 | RayMtilt = blkdiag(RayMtilt, ... |
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| 238 | ( Pa2CenterRatio(:,[1 1 1]).*repmat(RayOri(:,CenterY,CenterX)', ... |
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| 239 | [ SupNuPatch(i) 1])- RayOri(:,mask)')); |
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| 240 | else |
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| 241 | RayMtilt = blkdiag(RayMtilt, RayOri(:,mask)'); |
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| 242 | end |
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| 243 | RayMCent = blkdiag(RayMCent, RayOri(:,CenterY,CenterX)'*SupNuPatch(i)*mapVert(CenterY)*mapHori(CenterX)); |
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| 244 | PosiM = blkdiag(PosiM,Posi3D(:,mask)');%.*repmat( mapVert(yt)',[1 3]).*repmat( mapHori(x)',[1 3])); |
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| 245 | VarM = [VarM; VarMap(mask).*(mapVert(yt)').*( mapHori(x)')]; |
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| 246 | RayMd = blkdiag(RayMd,RayOri(:,mask)'.*repmat( mapVert(yt)',[1 3]).*repmat( mapHori(x)',[1 3])); |
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| 247 | DepthInverseMCent = [DepthInverseMCent; 1./median(CleanedDepthMap(mask)).*SupNuPatch(i)* mapVert(CenterY)'*mapHori(CenterX)]; |
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| 248 | DepthInverseM = [DepthInverseM; 1./CleanedDepthMap(mask).* mapVert(yt)'.*mapHori(x)']; |
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| 249 | else |
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| 250 | Pa2CenterRatio = CleanedDepthMap(CenterY,CenterX)./CleanedDepthMap(mask); |
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| 251 | if sum(mask(:)) > 0 |
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| 252 | RayMtilt = blkdiag(RayMtilt, ... |
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| 253 | ( Pa2CenterRatio(:,[1 1 1]).*repmat(RayOri(:,CenterY,CenterX)',[ SupNuPatch(i) 1])- RayOri(:,mask)')); |
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| 254 | else |
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| 255 | RayMtilt = blkdiag(RayMtilt, RayOri(:,mask)'); |
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| 256 | end |
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| 257 | RayMCent = blkdiag(RayMCent, RayOri(:,CenterY,CenterX)'*SupNuPatch(i)); |
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| 258 | PosiM = blkdiag(PosiM,Posi3D(:,mask)'); |
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| 259 | VarM = [VarM; VarMap(mask)]; |
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| 260 | RayMd = blkdiag(RayMd,RayOri(:,mask)'); |
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| 261 | DepthInverseMCent = [DepthInverseMCent; 1./median(CleanedDepthMap(mask)).*SupNuPatch(i)]; |
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| 262 | DepthInverseM = [DepthInverseM; 1./CleanedDepthMap(mask)]; |
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| 263 | end |
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| 264 | else |
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| 265 | RayMtilt = blkdiag(RayMtilt, RayOri(:,mask)'); |
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| 266 | RayMCent = blkdiag(RayMCent, RayOri(:,mask)'); |
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| 267 | PosiM = blkdiag(PosiM, Posi3D(:,mask)'); |
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| 268 | VarM = [VarM; VarMap(mask)]; |
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| 269 | RayMd = blkdiag(RayMd, RayOri(:,mask)'); |
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| 270 | end |
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| 271 | end |
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| 272 | YPointer(YPointer==0) = -1; |
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| 273 | |
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| 274 | % buliding CoPlane Matrix========================================================================= |
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| 275 | |
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| 276 | NuSTList = 0; |
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| 277 | if CoPST |
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| 278 | NuSTList = size(CoPSTList,1); |
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| 279 | if ~isempty(CoPSTList) |
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| 280 | [V H] = size(SupNeighborTable); |
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| 281 | SupNeighborTable( CoPSTList(:,1)*V + CoPSTList(:,2)) = 1; |
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| 282 | SupNeighborTable( CoPSTList(:,2)*V + CoPSTList(:,1)) = 1; |
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| 283 | % ClosestNList = [ClosestNList; CoPSTList]; |
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| 284 | end |
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| 285 | end |
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| 286 | CoPM1 = sparse(0,3*NuSupSize); |
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| 287 | CoPM2 = sparse(0,3*NuSupSize); |
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| 288 | CoPEstDepth = sparse(0,0); |
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| 289 | CoPNorM = []; |
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| 290 | WeiCoP = []; |
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| 291 | if ExtractRelationInfo == 1 |
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| 292 | WeiM = sparse(max(NuSup),max(NuSup)); |
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| 293 | end |
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| 294 | |
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| 295 | for i = NuSup |
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| 296 | Neighbor = find( SupNeighborTable(i,:) ~=0); |
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| 297 | Neighbor = Neighbor( Neighbor> i); |
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| 298 | for j = Neighbor |
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| 299 | % if ~CornerList(i) |
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| 300 | mask = Sup == i; |
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| 301 | SizeMaskAll = sum(mask(:)); |
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| 302 | [y x] = find(mask); |
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| 303 | CenterX = round(median(x)); |
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| 304 | CenterY = round(median(y)); |
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| 305 | y = find(mask(:,CenterX)); |
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| 306 | if ~isempty(y) |
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| 307 | CenterY = round(median(y)); |
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| 308 | end |
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| 309 | |
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| 310 | temp1 = sparse(1, 3*NuSupSize); |
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| 311 | temp2 = sparse(1, 3*NuSupSize); |
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| 312 | temp1(:,(Sup2Para( i)*3-2): Sup2Para( i)*3) = ... |
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| 313 | RayOri(:,CenterY,CenterX)'; |
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| 314 | temp2(:,(Sup2Para( j)*3-2): Sup2Para( j)*3) = ... |
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| 315 | RayOri(:,CenterY,CenterX)'; |
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| 316 | %NuNei-NuSTList |
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| 317 | |
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| 318 | % if i < NuNei-NuSTList % only immediate connecting superpixels are weighted using MultiScaleSup |
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| 319 | % wei = WeiV*10;%*(MultiScaleSupTable(Sup2Para(ClosestNList(i,1)),2:end) == MultiScaleSupTable(Sup2Para(ClosestNList(i,2)),2:end))'; |
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| 320 | if MultiScaleFlag |
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| 321 | vector = (MultiScaleSupTable(Sup2Para( i),2:end) == MultiScaleSupTable(Sup2Para( j),2:end)); |
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| 322 | expV = exp(-10*(WeiV*vector' + ShiftCoP) ); |
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| 323 | wei = 1/(1+expV); |
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| 324 | else |
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| 325 | wei = 1; |
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| 326 | end |
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| 327 | if ExtractRelationInfo == 1; |
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| 328 | WeiM(i,j) = wei; |
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| 329 | end |
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| 330 | % else |
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| 331 | % wei = 1; |
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| 332 | % end |
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| 333 | oneRay1 = temp1*wei; |
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| 334 | oneRay2 = temp2*wei; |
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| 335 | %CoPM1 = [CoPM1; temp1*wei]; |
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| 336 | %CoPM2 = [CoPM2; temp2*wei]; |
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| 337 | |
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| 338 | |
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| 339 | tempWeiCoP = [SizeMaskAll]; |
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| 340 | CoPEstDepth = [CoPEstDepth; max(median(CleanedDepthMap(mask)),ClosestDist)]; |
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| 341 | |
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| 342 | mask = Sup == j; |
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| 343 | SizeMaskAll = sum(mask(:)); |
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| 344 | [y x] = find(mask); |
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| 345 | CenterX = round(median(x)); |
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| 346 | CenterY = round(median(y)); |
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| 347 | y = find(mask(:,CenterX)); |
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| 348 | if ~isempty(y) |
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| 349 | CenterY = round(median(y)); |
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| 350 | end |
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| 351 | |
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| 352 | temp1 = sparse(1, 3*NuSupSize); |
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| 353 | temp2 = sparse(1, 3*NuSupSize); |
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| 354 | temp1(:,(Sup2Para( i)*3-2): Sup2Para( i)*3) = ... |
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| 355 | RayOri(:,CenterY,CenterX)'; |
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| 356 | temp2(:,(Sup2Para( j)*3-2): Sup2Para( j)*3) = ... |
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| 357 | RayOri(:,CenterY,CenterX)'; |
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| 358 | |
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| 359 | % Instead of having separate L-1 terms for symmetric co-planar constraint; do the following: |
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| 360 | % If the penaly was ||.||_2^2 + ||.||_2^2; then the co-efficients are |
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| 361 | % some kind of average of two rays. For one norm; we take its average. |
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| 362 | % (do not divide by 2 because the penalty should be double. |
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| 363 | |
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| 364 | CoPM1 = [CoPM1; temp1*wei + oneRay1 ]; |
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| 365 | CoPM2 = [CoPM2; temp2*wei + oneRay2 ]; |
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| 366 | |
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| 367 | tempWeiCoP = [tempWeiCoP; SizeMaskAll]; |
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| 368 | WeiCoP = [WeiCoP; tempWeiCoP]; |
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| 369 | CoPEstDepth = [CoPEstDepth; max(median(CleanedDepthMap(mask)),ClosestDist)]; |
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| 370 | end |
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| 371 | end%========================================================================================================= |
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| 372 | |
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| 373 | %== find the boundary point that might need to be stick ot each other========================================== |
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| 374 | HoriStickM_i = sparse(0,3*NuSupSize); |
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| 375 | HoriStickM_j = sparse(0,3*NuSupSize); |
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| 376 | HoriStickPointInd = []; |
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| 377 | EstDepHoriStick = []; |
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| 378 | |
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| 379 | MAX_POINTS_STITCH_HORI = 2; % the actual code will be modified in another copy of the file |
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| 380 | MIN_POINTS_STITCH = 2; % ERROR: not used. |
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| 381 | |
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| 382 | % ================================================================ |
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| 383 | % NOTE: The actual algorithm should be picking precisely 2 points which are |
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| 384 | % FARTHEST away from the candidate set of neighbors. This algorithm |
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| 385 | % will ALWAYS work and produce no surprising results. |
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| 386 | |
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| 387 | % In some cases, one may experiment with picking only 1 point when the 2 |
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| 388 | % points are too close ---- this will make the algorithm faster; but might |
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| 389 | % produce surprising (e.g. a triangle sticking out) sometimes. |
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| 390 | % An ideal algorithm will reduce the number of points by checking for loops |
---|
| 391 | % passing through 3 or less superpixels through this matrix; and removing |
---|
| 392 | % them such that the smallest loop passes through 4 superpixels. (see EE263 |
---|
| 393 | % for a quick algorithm to do this -- involves product of matrices. |
---|
| 394 | % ================================================================== |
---|
| 395 | |
---|
| 396 | DIST_STICHING_THRESHOLD_HORI = 0.4; |
---|
| 397 | DIST_STICHING_THRESHOLD_HORI_ONLYCOL = -0.5; % effectively not used, |
---|
| 398 | |
---|
| 399 | SupPixelNeighborList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 400 | SupPixelParsedList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 401 | recordAdded1 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 402 | recordAdded2 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 403 | addedIndexList = [ ]; |
---|
| 404 | |
---|
| 405 | BounaryPHori = conv2(Sup,[1 -1],'same') ~=0; |
---|
| 406 | BounaryPHori(:,end) = 0; |
---|
| 407 | BounaryPVert = conv2(Sup,[1; -1],'same') ~=0; |
---|
| 408 | BounaryPVert(end,:) = 0; |
---|
| 409 | |
---|
| 410 | % boundariesHoriIndex = find(BounaryPHori==1)'; |
---|
| 411 | % pre-select the boundary in order with the NuSup order |
---|
| 412 | for l = NuSup |
---|
| 413 | mask = Sup == l; |
---|
| 414 | boundariesHoriIndex = find(BounaryPHori==1 & mask)'; |
---|
| 415 | for i = boundariesHoriIndex |
---|
| 416 | j = i+Default.VertYNuDepth; |
---|
| 417 | if Sup(i) == 0 || Sup(j) == 0 |
---|
| 418 | continue; |
---|
| 419 | end |
---|
| 420 | SupPixelParsedList(Sup(i),Sup(j)) = SupPixelParsedList(Sup(i),Sup(j)) + 1; |
---|
| 421 | |
---|
| 422 | if SupPixelNeighborList(Sup(i),Sup(j)) == 0 |
---|
| 423 | recordAdded1(Sup(i),Sup(j)) = i; |
---|
| 424 | elseif SupPixelNeighborList(Sup(i),Sup(j)) >= MAX_POINTS_STITCH_HORI |
---|
| 425 | continue; |
---|
| 426 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 1 % inside this remove the close stiching terms |
---|
| 427 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 428 | rowN_older = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 429 | colN_older = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 430 | if abs(rowN - rowN_older) + (55/305)*abs(colN - colN_older) > DIST_STICHING_THRESHOLD_HORI && ... |
---|
| 431 | abs(colN - colN_older) > DIST_STICHING_THRESHOLD_HORI_ONLYCOL |
---|
| 432 | recordAdded2(Sup(i),Sup(j)) = i; |
---|
| 433 | else |
---|
| 434 | continue; |
---|
| 435 | end |
---|
| 436 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 2 %Assuming MAX_POINTS_STITCH = 3 |
---|
| 437 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 438 | rowN_older1 = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 439 | colN_older1 = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 440 | rowN_older2 = ceil( recordAdded2(Sup(i),Sup(j)) / 55); |
---|
| 441 | colN_older2 = rem( recordAdded2(Sup(i),Sup(j)), 55); |
---|
| 442 | |
---|
| 443 | if abs(rowN - rowN_older1) + (55/305)*abs(colN - colN_older1) > DIST_STICHING_THRESHOLD_HORI && ... |
---|
| 444 | abs(rowN - rowN_older2) + (55/305)*abs(colN - colN_older2) > DIST_STICHING_THRESHOLD_HORI |
---|
| 445 | ; |
---|
| 446 | else |
---|
| 447 | continue; |
---|
| 448 | end |
---|
| 449 | end |
---|
| 450 | |
---|
| 451 | % If you come here, it means you are probably adding it. |
---|
| 452 | SupPixelNeighborList(Sup(i),Sup(j)) = SupPixelNeighborList(Sup(i),Sup(j)) + 1; |
---|
| 453 | addedIndexList = [addedIndexList i]; |
---|
| 454 | end |
---|
| 455 | end |
---|
| 456 | |
---|
| 457 | WeightHoriNeighborStitch = [ ]; |
---|
| 458 | |
---|
| 459 | for i = addedIndexList |
---|
| 460 | j = i+Default.VertYNuDepth; |
---|
| 461 | |
---|
| 462 | WeightHoriNeighborStitch = [WeightHoriNeighborStitch; SupPixelParsedList(Sup(i),Sup(j)) / ... |
---|
| 463 | SupPixelNeighborList(Sup(i),Sup(j)) ]; |
---|
| 464 | |
---|
| 465 | Target(1) = Sup2Para(Sup(i)); |
---|
| 466 | Target(2) = Sup2Para(Sup(j)); |
---|
| 467 | rayBoundary(:,1) = RayOri(:,i); |
---|
| 468 | rayBoundary(:,2) = RayOri(:,i); |
---|
| 469 | % betaTemp = StickHori;%*(DistStickLengthNormWei.^2)*beta(Target(I)); |
---|
| 470 | % betaTemp = StickHori*WeiV;%*(MultiScaleSupTable(Sup2Para(Sup(i)),2:end) == MultiScaleSupTable(Sup2Para(Sup(j)),2:end))';%*(DistStickLengthNormWei.^2)*beta(Target(I)); |
---|
| 471 | if MultiScaleFlag |
---|
| 472 | vector = (MultiScaleSupTable(Sup2Para(Sup(i)),2:end) == MultiScaleSupTable(Sup2Para(Sup(j)),2:end)); |
---|
| 473 | expV = exp(-10*(WeiV*vector' + ShiftStick) ); |
---|
| 474 | betaTemp = StickHori*(0.5+1/(1+expV)); %*(DistStickLengthNormWei.^2)*beta(Target(I)); |
---|
| 475 | % therr should always be sticking (know don't care about occlusion) |
---|
| 476 | else |
---|
| 477 | betaTemp = StickHori; |
---|
| 478 | end |
---|
| 479 | temp = sparse(3,NuSupSize); |
---|
| 480 | temp(:,Target(1)) = rayBoundary(:,1); |
---|
| 481 | HoriStickM_i = [HoriStickM_i; betaTemp*temp(:)']; |
---|
| 482 | temp = sparse(3,NuSupSize); |
---|
| 483 | temp(:,Target(2)) = rayBoundary(:,2); |
---|
| 484 | HoriStickM_j = [HoriStickM_j; betaTemp*temp(:)']; |
---|
| 485 | EstDepHoriStick = [EstDepHoriStick; sqrt(max(CleanedDepthMap(i),ClosestDist)*max(CleanedDepthMap(j),ClosestDist))]; |
---|
| 486 | HoriStickPointInd = [HoriStickPointInd i ]; |
---|
| 487 | |
---|
| 488 | end |
---|
| 489 | % ============================================== |
---|
| 490 | |
---|
| 491 | |
---|
| 492 | |
---|
| 493 | % ======== finding the unucessary stiching points in Vertical direction ==== |
---|
| 494 | VertStickM_i = sparse(0,3*NuSupSize); |
---|
| 495 | VertStickM_j = sparse(0,3*NuSupSize); |
---|
| 496 | VertStickPointInd = []; |
---|
| 497 | EstDepVertStick = []; |
---|
| 498 | |
---|
| 499 | MAX_POINTS_STITCH_VERT = 4; %3 |
---|
| 500 | DIST_STICHING_THRESHOLD_VERT = 0.1; %0.3 |
---|
| 501 | DIST_STICHING_THRESHOLD_VERT_ONLYCOL = -0.5; % effectively not used, ideally should be 0.5; i.e., the point should be farther in col direction because that is the direction of the edge. |
---|
| 502 | |
---|
| 503 | SupPixelNeighborList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 504 | SupPixelParsedList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 505 | recordAdded1 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 506 | recordAdded2 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 507 | addedIndexList = [ ]; |
---|
| 508 | |
---|
| 509 | % pre-select the boundary in order with the NuSup order |
---|
| 510 | for l = NuSup |
---|
| 511 | mask = Sup == l; |
---|
| 512 | % for i = find(BounaryPVert==1)' |
---|
| 513 | for i = find(BounaryPVert==1 & mask)' |
---|
| 514 | j = i+1; |
---|
| 515 | if Sup(i) == 0 || Sup(j) == 0 |
---|
| 516 | continue; |
---|
| 517 | end |
---|
| 518 | SupPixelParsedList(Sup(i),Sup(j)) = SupPixelParsedList(Sup(i),Sup(j)) + 1; |
---|
| 519 | |
---|
| 520 | if SupPixelNeighborList(Sup(i),Sup(j)) == 0 |
---|
| 521 | recordAdded1(Sup(i),Sup(j)) = i; |
---|
| 522 | elseif SupPixelNeighborList(Sup(i),Sup(j)) >= MAX_POINTS_STITCH_VERT |
---|
| 523 | continue; |
---|
| 524 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 1 % inside this remove the close stiching terms |
---|
| 525 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 526 | rowN_older = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 527 | colN_older = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 528 | if abs(rowN - rowN_older) + (55/305)*abs(colN - colN_older) > DIST_STICHING_THRESHOLD_VERT && ... |
---|
| 529 | abs(colN - colN_older) > DIST_STICHING_THRESHOLD_VERT_ONLYCOL |
---|
| 530 | recordAdded2(Sup(i),Sup(j)) = i; |
---|
| 531 | else |
---|
| 532 | continue; |
---|
| 533 | end |
---|
| 534 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 2 %Assuming MAX_POINTS_STITCH = 3 |
---|
| 535 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 536 | rowN_older1 = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 537 | colN_older1 = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 538 | rowN_older2 = ceil( recordAdded2(Sup(i),Sup(j)) / 55); |
---|
| 539 | colN_older2 = rem( recordAdded2(Sup(i),Sup(j)), 55); |
---|
| 540 | |
---|
| 541 | if abs(rowN - rowN_older1) + (55/305)*abs(colN - colN_older1) > DIST_STICHING_THRESHOLD_VERT && ... |
---|
| 542 | abs(rowN - rowN_older2) + (55/305)*abs(colN - colN_older2) > DIST_STICHING_THRESHOLD_VERT |
---|
| 543 | ; |
---|
| 544 | else |
---|
| 545 | continue; |
---|
| 546 | end |
---|
| 547 | end |
---|
| 548 | |
---|
| 549 | % If you come here, it means you are probably adding it. |
---|
| 550 | SupPixelNeighborList(Sup(i),Sup(j)) = SupPixelNeighborList(Sup(i),Sup(j)) + 1; |
---|
| 551 | addedIndexList = [addedIndexList i]; |
---|
| 552 | end |
---|
| 553 | end |
---|
| 554 | |
---|
| 555 | |
---|
| 556 | WeightVertNeighborStitch = [ ]; |
---|
| 557 | |
---|
| 558 | for i = addedIndexList |
---|
| 559 | j = i+1; |
---|
| 560 | |
---|
| 561 | WeightVertNeighborStitch = [WeightVertNeighborStitch; SupPixelParsedList(Sup(i),Sup(j)) / ... |
---|
| 562 | SupPixelNeighborList(Sup(i),Sup(j)) ]; |
---|
| 563 | |
---|
| 564 | Target(1) = Sup2Para(Sup(i)); |
---|
| 565 | Target(2) = Sup2Para(Sup(j)); |
---|
| 566 | rayBoundary(:,1) = RayOri(:,i); |
---|
| 567 | rayBoundary(:,2) = RayOri(:,i); |
---|
| 568 | if MultiScaleFlag |
---|
| 569 | vector = (MultiScaleSupTable(Sup2Para(Sup(i)),2:end) == MultiScaleSupTable(Sup2Para(Sup(j)),2:end)); |
---|
| 570 | expV = exp(-10*(WeiV*vector' + ShiftStick) ); |
---|
| 571 | betaTemp = StickVert*(0.5+1/(1+expV)); |
---|
| 572 | % therr should always be sticking (know don't care about occlusion) |
---|
| 573 | else |
---|
| 574 | betaTemp = StickVert; |
---|
| 575 | end |
---|
| 576 | temp = sparse(3,NuSupSize); |
---|
| 577 | temp(:,Target(1)) = rayBoundary(:,1); |
---|
| 578 | VertStickM_i = [VertStickM_i; betaTemp*temp(:)']; |
---|
| 579 | temp = sparse(3,NuSupSize); |
---|
| 580 | temp(:,Target(2)) = rayBoundary(:,2); |
---|
| 581 | VertStickM_j = [VertStickM_j; betaTemp*temp(:)']; |
---|
| 582 | EstDepVertStick = [EstDepVertStick; sqrt(max(CleanedDepthMap(i),ClosestDist)*max(CleanedDepthMap(j),ClosestDist))]; |
---|
| 583 | VertStickPointInd = [VertStickPointInd i ]; |
---|
| 584 | |
---|
| 585 | end |
---|
| 586 | % ====finished finding the unucessary stiching points in Vertical direction === |
---|
| 587 | |
---|
| 588 | |
---|
| 589 | % ======================================Finish building up matrix=====================hard work====================== |
---|
| 590 | |
---|
| 591 | |
---|
| 592 | |
---|
| 593 | % ================================================================================================================ |
---|
| 594 | depthfile = strrep(Default.filename{k},'img','depth_learned'); % |
---|
| 595 | |
---|
| 596 | |
---|
| 597 | % Start Decompose the image align with superpixels ================================================================================== |
---|
| 598 | % define the decomposition in X direction only |
---|
| 599 | |
---|
| 600 | |
---|
| 601 | |
---|
| 602 | TotalRectX = 2*XNuDecompose-1; |
---|
| 603 | TotalRectY= 2*YNuDecompose-1; |
---|
| 604 | PlanePara = NaN*ones(3*NuSupSize,1); % setup the lookuptable for the solved plane parameter |
---|
| 605 | |
---|
| 606 | opt = sdpsettings('solver','sedumi','cachesolvers',1,'sedumi.eps',1e-6,'verbose',solverVerboseLevel); |
---|
| 607 | % opt = sdpsettings('solver','lpsolve','cachesolvers',1,'verbose',5); |
---|
| 608 | % opt = sdpsettings('solver','lpsolve','cachesolvers',1,'showprogress',1, 'verbose',4); |
---|
| 609 | % opt = sdpsettings('solver','glpk','cachesolvers',1, 'usex0', 1); |
---|
| 610 | % opt = sdpsettings('solver','glpk', 'usex0', 1); |
---|
| 611 | %opt = sdpsettings('solver','linprog','cachesolvers',1); |
---|
| 612 | % opt = sdpsettings('solver','bpmpd'); |
---|
| 613 | |
---|
| 614 | for k = 0:(TotalRectX-1) |
---|
| 615 | l = rem(k*2,(TotalRectX)); |
---|
| 616 | RangeX = (1+ceil(Default.HoriXNuDepth/XNuDecompose)*l/2):... |
---|
| 617 | min((1+ceil(Default.HoriXNuDepth/XNuDecompose)*(l/2+1)),Default.HoriXNuDepth); |
---|
| 618 | RangeX = ceil(RangeX); |
---|
| 619 | for q = 0:(TotalRectY-1) |
---|
| 620 | l = rem(q*2,(TotalRectY)); |
---|
| 621 | RangeY = (1+ceil(Default.VertYNuDepth/YNuDecompose)*l/2):... |
---|
| 622 | min((1+ceil(Default.VertYNuDepth/YNuDecompose)*(l/2+1)),Default.VertYNuDepth); |
---|
| 623 | RangeY = ceil(RangeY); |
---|
| 624 | mask = zeros(size(Sup)); |
---|
| 625 | mask(RangeY,RangeX) = 1; |
---|
| 626 | mask =logical(mask); |
---|
| 627 | SubSup = sort(setdiff(unique( reshape( Sup(RangeY,RangeX),1,[])),0)); |
---|
| 628 | BoundarySup = []; |
---|
| 629 | |
---|
| 630 | if any(SubSup <=0) |
---|
| 631 | SubSup(SubSup<=0) |
---|
| 632 | end |
---|
| 633 | BoundarySup = find(sum(SupNeighborTable(SubSup,:), 1) ~=0); |
---|
| 634 | BoundarySup = unique(setdiff(BoundarySup,[0 SubSup] )); |
---|
| 635 | |
---|
| 636 | % chech if BoundarySup non-NaN in PlanePara |
---|
| 637 | checkNoNNaN = ~isnan(PlanePara(Sup2Para(BoundarySup)*3)); |
---|
| 638 | BoundarySup = BoundarySup(checkNoNNaN); |
---|
| 639 | TotalSup = sort([SubSup BoundarySup]); |
---|
| 640 | |
---|
| 641 | SubSupPtr = [ Sup2Para(SubSup)*3-2;... |
---|
| 642 | Sup2Para(SubSup)*3-1;... |
---|
| 643 | Sup2Para(SubSup)*3]; |
---|
| 644 | SubSupPtr = SubSupPtr(:); |
---|
| 645 | BoundarySupPtr = [ Sup2Para(BoundarySup)*3-2;... |
---|
| 646 | Sup2Para(BoundarySup)*3-1;... |
---|
| 647 | Sup2Para(BoundarySup)*3]; |
---|
| 648 | BoundarySupPtr = BoundarySupPtr(:); |
---|
| 649 | NuSubSupSize = size(SubSup,2); |
---|
| 650 | |
---|
| 651 | % clearn RayAllM PosiM CoPM1 HoriStickM_i VertStickM_i |
---|
| 652 | NewRayAllM = RayAllM(:,SubSupPtr); |
---|
| 653 | tar = sum(NewRayAllM ~= 0,2) == 3; |
---|
| 654 | NewRayAllM = NewRayAllM(tar,:); |
---|
| 655 | NewPosiM = PosiM(:,SubSupPtr); |
---|
| 656 | tar = sum(NewPosiM ~= 0,2) == 3; |
---|
| 657 | NewPosiM = NewPosiM(tar,:); |
---|
| 658 | NewVarM = VarM(tar); |
---|
| 659 | |
---|
| 660 | NewCoPM = CoPM1(:,SubSupPtr) - CoPM2(:,SubSupPtr); |
---|
| 661 | NewCoPMBound = CoPM1(:,BoundarySupPtr) - CoPM2(:,BoundarySupPtr); |
---|
| 662 | |
---|
| 663 | tar = sum(NewCoPM ~= 0,2) + sum(NewCoPMBound ~= 0,2)==6; |
---|
| 664 | NewCoPMBound = NewCoPMBound*PlanePara(BoundarySupPtr); |
---|
| 665 | NewCoPM = NewCoPM(tar,:); |
---|
| 666 | NewCoPMBound = NewCoPMBound(tar); |
---|
| 667 | NewCoPEstDepth = CoPEstDepth(tar); |
---|
| 668 | |
---|
| 669 | NewHoriStickM = HoriStickM_i(:,SubSupPtr)-HoriStickM_j(:,SubSupPtr); |
---|
| 670 | NewHoriStickMBound = HoriStickM_i(:,BoundarySupPtr)-HoriStickM_j(:,BoundarySupPtr); |
---|
| 671 | |
---|
| 672 | tar = sum(NewHoriStickM ~= 0,2)+ sum(NewHoriStickMBound ~= 0,2) ==6; |
---|
| 673 | NewHoriStickM = NewHoriStickM(tar,:); |
---|
| 674 | BoundarySupPtr = [ Sup2Para(BoundarySup)*3-2;... |
---|
| 675 | Sup2Para(BoundarySup)*3-1;... |
---|
| 676 | Sup2Para(BoundarySup)*3]; |
---|
| 677 | BoundarySupPtr = BoundarySupPtr(:); |
---|
| 678 | NuSubSupSize = size(SubSup,2); |
---|
| 679 | |
---|
| 680 | % clearn RayAllM PosiM CoPM1 HoriStickM_i VertStickM_i |
---|
| 681 | NewRayAllM = RayAllM(:,SubSupPtr); |
---|
| 682 | tar = sum(NewRayAllM ~= 0,2) == 3; |
---|
| 683 | NewRayAllM = NewRayAllM(tar,:); |
---|
| 684 | NewPosiM = PosiM(:,SubSupPtr); |
---|
| 685 | tar = sum(NewPosiM ~= 0,2) == 3; |
---|
| 686 | NewPosiM = NewPosiM(tar,:); |
---|
| 687 | NewVarM = VarM(tar); |
---|
| 688 | |
---|
| 689 | NewCoPM = CoPM1(:,SubSupPtr) - CoPM2(:,SubSupPtr); |
---|
| 690 | NewCoPMBound = CoPM1(:,BoundarySupPtr) - CoPM2(:,BoundarySupPtr); |
---|
| 691 | |
---|
| 692 | tar = sum(NewCoPM ~= 0,2) + sum(NewCoPMBound ~= 0,2)==6; |
---|
| 693 | NewCoPMBound = NewCoPMBound*PlanePara(BoundarySupPtr); |
---|
| 694 | NewCoPM = NewCoPM(tar,:); |
---|
| 695 | NewCoPMBound = NewCoPMBound(tar); |
---|
| 696 | NewCoPEstDepth = CoPEstDepth(tar); |
---|
| 697 | |
---|
| 698 | NewHoriStickM = HoriStickM_i(:,SubSupPtr)-HoriStickM_j(:,SubSupPtr); |
---|
| 699 | NewHoriStickMBound = HoriStickM_i(:,BoundarySupPtr)-HoriStickM_j(:,BoundarySupPtr); |
---|
| 700 | |
---|
| 701 | tar = sum(NewHoriStickM ~= 0,2)+ sum(NewHoriStickMBound ~= 0,2) ==6; |
---|
| 702 | NewHoriStickM = NewHoriStickM(tar,:); |
---|
| 703 | NewEstDepHoriStick = EstDepHoriStick(tar); |
---|
| 704 | NewHoriStickMBound = NewHoriStickMBound*PlanePara(BoundarySupPtr); |
---|
| 705 | NewHoriStickMBound = NewHoriStickMBound(tar); |
---|
| 706 | NewWeightHoriNeighborStitch = WeightHoriNeighborStitch(tar); |
---|
| 707 | |
---|
| 708 | NewVertStickM = VertStickM_i(:,SubSupPtr)-VertStickM_j(:,SubSupPtr); |
---|
| 709 | NewVertStickMBound = VertStickM_i(:,BoundarySupPtr)-VertStickM_j(:,BoundarySupPtr); |
---|
| 710 | |
---|
| 711 | tar = sum(NewVertStickM ~= 0,2) + sum(NewVertStickMBound ~= 0,2)==6; |
---|
| 712 | NewVertStickM = NewVertStickM(tar,:); |
---|
| 713 | NewEstDepVertStick = EstDepVertStick(tar); |
---|
| 714 | NewVertStickMBound = NewVertStickMBound*PlanePara(BoundarySupPtr); |
---|
| 715 | NewVertStickMBound = NewVertStickMBound(tar); |
---|
| 716 | NewWeightVertNeighborStitch = WeightVertNeighborStitch(tar); |
---|
| 717 | |
---|
| 718 | |
---|
| 719 | for i = step |
---|
| 720 | ParaPPCP = sdpvar(3*NuSubSupSize,1); |
---|
| 721 | F = set(ParaPPCP(3*(1:NuSubSupSize)-1).*YPointer(Sup2Para(SubSup))<=0)... |
---|
| 722 | +set(NewRayAllM*ParaPPCP <=1/ClosestDist)... |
---|
| 723 | +set(NewRayAllM*ParaPPCP >=1/FarestDist); |
---|
| 724 | if i == 1 % W/O priors |
---|
| 725 | solvesdp(F,norm( (PosiM*ParaPPCP-ones(size(PosiM,1),1))./exp(abs(VarM)/BandWith),1)... |
---|
| 726 | , opt); |
---|
| 727 | elseif i ==2 % Coner |
---|
| 728 | solvesdp(F,norm( (PosiM*ParaPPCP-ones(size(PosiM,1),1))./exp(abs(VarM)/BandWith),1)... |
---|
| 729 | +Center*norm(((CoPM1 - CoPM2)*ParaPPCP).*CoPEstDepth, 1)... |
---|
| 730 | , opt); |
---|
| 731 | else % all the priors |
---|
| 732 | |
---|
| 733 | |
---|
| 734 | % ========= Debugging the code for numerical accuracy ========== |
---|
| 735 | |
---|
| 736 | |
---|
| 737 | |
---|
| 738 | % ================================================================ |
---|
| 739 | |
---|
| 740 | WeightsSelfTerm = 1 ./ exp(abs(NewVarM)/BandWith); |
---|
| 741 | |
---|
| 742 | |
---|
| 743 | %============ solver specific options ====== |
---|
| 744 | if strcmp(opt.solver, 'glpk') |
---|
| 745 | disp('Using x0 for GPLK'); |
---|
| 746 | ParaPPCP = NewPosiM \ ones(size(NewPosiM,1),1); |
---|
| 747 | end |
---|
| 748 | |
---|
| 749 | if NOYALMIP |
---|
| 750 | fprintf([' ' num2str( toc(inferenceTime) ) '\n : In 1st level Optimization, using ' ... |
---|
| 751 | opt.solver '. ' ... |
---|
| 752 | '(' num2str(k+1) '/' num2str((TotalRectX-1)+1) ',' num2str(l+1) '/' num2str((TotalRectY-1)+1) ')']); |
---|
| 753 | % sol = solvesdp([], norm( (NewPosiM*ParaPPCP-ones(size(NewPosiM,1),1)) .* WeightsSelfTerm,1)... |
---|
| 754 | fprintf([ ' Starting Sedumi at: ' num2str( toc(inferenceTime) ) '\n ']); |
---|
| 755 | sol = solvesdp(F, norm( (NewPosiM*ParaPPCP-ones(size(NewPosiM,1),1)) .* WeightsSelfTerm,1)... |
---|
| 756 | + Center*norm(((NewCoPM)*ParaPPCP + NewCoPMBound).*NewCoPEstDepth, 1)... |
---|
| 757 | + norm(((NewHoriStickM)*ParaPPCP + NewHoriStickMBound).*... |
---|
| 758 | NewEstDepHoriStick.*NewWeightHoriNeighborStitch,1)... |
---|
| 759 | + norm(((NewVertStickM)*ParaPPCP + NewVertStickMBound).*... |
---|
| 760 | NewEstDepVertStick.*NewWeightVertNeighborStitch,1) ... |
---|
| 761 | , opt); |
---|
| 762 | fprintf([ ' Finished Sedumi at: ' num2str( toc(inferenceTime) ) '\n ' ]); |
---|
| 763 | %opt |
---|
| 764 | %mean(abs(ParaPPCP(:))) |
---|
| 765 | x_sedumi = double(ParaPPCP); |
---|
| 766 | % sum(isnan(ParaPPCP)) |
---|
| 767 | yalmip('clear'); |
---|
| 768 | end |
---|
| 769 | |
---|
| 770 | if NEW_OPTIMIZATION |
---|
| 771 | fprintf([' ' num2str( toc(inferenceTime) ) '\n : In 1st level Optimization, using new solver.' ... |
---|
| 772 | '(' num2str(k+1) '/' num2str((TotalRectX-1)+1) ',' num2str(l+1) '/' num2str((TotalRectY-1)+1) ')']); |
---|
| 773 | |
---|
| 774 | global A b S inq |
---|
| 775 | |
---|
| 776 | A = [ sparse(1:length(WeightsSelfTerm),1:length(WeightsSelfTerm),WeightsSelfTerm ) * NewPosiM;... |
---|
| 777 | sparse(1:length(NewCoPEstDepth),1:length(NewCoPEstDepth),NewCoPEstDepth*Center ) * NewCoPM;... |
---|
| 778 | sparse(1:length(NewEstDepHoriStick), 1:length(NewEstDepHoriStick), NewEstDepHoriStick.*NewWeightHoriNeighborStitch) * NewHoriStickM;... |
---|
| 779 | sparse(1:length(NewEstDepVertStick), 1:length(NewEstDepVertStick), NewEstDepVertStick.*NewWeightVertNeighborStitch) * NewVertStickM;... |
---|
| 780 | ]; |
---|
| 781 | |
---|
| 782 | b = [ ones(size(NewPosiM,1),1) .* WeightsSelfTerm;... |
---|
| 783 | -NewCoPMBound.*NewCoPEstDepth*Center;... |
---|
| 784 | -NewHoriStickMBound.*NewEstDepHoriStick.*NewWeightHoriNeighborStitch;... |
---|
| 785 | -NewVertStickMBound.*NewEstDepVertStick.*NewWeightVertNeighborStitch]; |
---|
| 786 | |
---|
| 787 | %norm(NewCoPMBound.*NewCoPEstDepth*Center) |
---|
| 788 | |
---|
| 789 | temp = zeros(1, NuSubSupSize*3); |
---|
| 790 | temp(3*(1:NuSubSupSize)-1) = YPointer(Sup2Para(SubSup)); |
---|
| 791 | temp = sparse(1:length(temp), 1:length(temp), temp); |
---|
| 792 | temp( sum(temp,2) ==0,:) = []; |
---|
| 793 | S = [temp;... |
---|
| 794 | NewRayAllM;... |
---|
| 795 | -NewRayAllM]; |
---|
| 796 | inq = [ sparse(size(temp,1), 1);... |
---|
| 797 | - 1/ClosestDist*ones(size(NewRayAllM,1),1);... |
---|
| 798 | 1/FarestDist*ones(size(NewRayAllM,1),1)]; |
---|
| 799 | Para.ClosestDist = ClosestDist; |
---|
| 800 | Para.FarestDist = FarestDist; |
---|
| 801 | Para.ptry = []; |
---|
| 802 | Para.ptrz = []; |
---|
| 803 | Para.Dist_Start = []; |
---|
| 804 | |
---|
| 805 | % fprintf([ ' Starting new solver at: ' num2str( toc(inferenceTime) ) '\n ']); |
---|
| 806 | [x_ashIterator, alfa, status, history, T_nt_hist] = ... |
---|
| 807 | SigmoidLogBarrierSolver( Para, [], [], [], '', [], [], solverVerboseLevel); |
---|
| 808 | if any(S*x_ashIterator+inq > 0 ) |
---|
| 809 | disp('Inequality not satisfied'); |
---|
| 810 | max( S*x_ashIterator+inq) |
---|
| 811 | elseif status == 2 |
---|
| 812 | fprintf([' Success with alfa=' num2str(alfa)]); |
---|
| 813 | end |
---|
| 814 | % fprintf([ ' Finished new solver at: ' num2str( toc(inferenceTime) ) '\n ' ]); |
---|
| 815 | |
---|
| 816 | ParaPPCP = x_ashIterator; |
---|
| 817 | |
---|
| 818 | end |
---|
| 819 | end |
---|
| 820 | |
---|
| 821 | % norm(x_ashIterator) |
---|
| 822 | % norm(x_sedumi) |
---|
| 823 | % norm(x_ashIterator-x_sedumi) |
---|
| 824 | PlanePara(SubSupPtr) = ParaPPCP; |
---|
| 825 | |
---|
| 826 | % % SepPointMeasureHori = 1./(HoriStickM_i*ParaPPCP)-1./(HoriStickM_j*ParaPPCP); |
---|
| 827 | % % SepPointMeasureVert = 1./(VertStickM_i*ParaPPCP)-1./(VertStickM_j*ParaPPCP); |
---|
| 828 | % ParaPPCP = reshape(ParaPPCP,3,[]); |
---|
| 829 | % %any(any(isnan(ParaPPCP))) |
---|
| 830 | % % porject the ray on planes to generate the ProjDepth |
---|
| 831 | % FitDepthPPCP = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 832 | % FitDepthPPCP(~maskSkyEroded & mask) = (1./sum(ParaPPCP(:,TotalSup2Para(SupEpand(~maskSkyEroded & mask))).*Ray(:,~maskSkyEroded & mask),1))'; |
---|
| 833 | % FitDepthPPCP = reshape(FitDepthPPCP,Default.VertYNuDepth,[]); |
---|
| 834 | % % storage for comparison purpose ====================== |
---|
| 835 | % % depthMap = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 836 | % % depthMap(~maskSkyEroded | mask) = (1./sum(ParaPPCP(:,TotalSup2Para(SupEpand(~maskSkyEroded | mask))).*RayOri(:,~maskSkyEroded | mask),1))'; |
---|
| 837 | % % depthMap = reshape(depthMap,Default.VertYNuDepth,[]); |
---|
| 838 | % % if baseline == 0 |
---|
| 839 | % % system(['mkdir ' Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '/']); |
---|
| 840 | % % save([Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '/' depthfile '.mat'],'depthMap'); |
---|
| 841 | % % elseif baseline == 1 |
---|
| 842 | % % system(['mkdir ' Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '_baseline/']); |
---|
| 843 | % % save([Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '_baseline/' depthfile '.mat'],'depthMap'); |
---|
| 844 | % % else |
---|
| 845 | % % system(['mkdir ' Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '_baseline2/']); |
---|
| 846 | % % save([Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '_baseline2/' depthfile '.mat'],'depthMap'); |
---|
| 847 | % % end |
---|
| 848 | % |
---|
| 849 | % % ===================================================== |
---|
| 850 | % [Position3DFitedPPCP] = im_cr2w_cr(FitDepthPPCP,permute(Ray,[2 3 1])); |
---|
| 851 | % if true %RenderVrmlFlag && i==3 |
---|
| 852 | % Position3DFitedPPCP(3,:) = -Position3DFitedPPCP(3,:); |
---|
| 853 | % Position3DFitedPPCP = permute(Position3DFitedPPCP,[2 3 1]); |
---|
| 854 | % RR =permute(Ray,[2 3 1]); |
---|
| 855 | % temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
---|
| 856 | % PositionTex = permute(temp./repmat(cat(3,Default.a_default,Default.b_default),[Default.VertYNuDepth Default.HoriXNuDepth 1])+repmat(cat(3,Default.Ox_default,Default.Oy_default),[Default.VertYNuDepth Default.HoriXNuDepth 1]),[3 1 2]); |
---|
| 857 | % PositionTex = permute(PositionTex,[2 3 1]); |
---|
| 858 | % WrlFacest(Position3DFitedPPCP,PositionTex,Sup,Default.filename{1},'./') |
---|
| 859 | % |
---|
| 860 | % % [VrmlName] = vrml_test_faceset_goodSkyBoundary( Default.filename{k}, Position3DFitedPPCP, FitDepthPPCP, permute(Ray,[2 3 1]), [Name{i} DepthFolder 'ExpVar'], ... |
---|
| 861 | % % [], [], 0, maskSkyEroded, maskG, 1, 0, Default.a_default, Default.b_default, Default.Ox_default, Default.Oy_default); |
---|
| 862 | % % system(['gzip -9 -c ' Default.ScratchDataFolder '/vrml/' VrmlName ' > ' Default.ScratchDataFolder '/vrml/' VrmlName '.gz']); |
---|
| 863 | % %delete([Default.ScratchDataFolder '/vrml/' VrmlName]); |
---|
| 864 | % end |
---|
| 865 | % save([Default.ScratchDataFolder '/data/PreDepth/FitDepthPPCP' num2str(k) '.mat'],'FitDepthPPCP','SepPointMeasureHori',... |
---|
| 866 | % 'SepPointMeasureVert','VertStickPointInd','HoriStickPointInd'); |
---|
| 867 | %save([Default.ScratchDataFolder '/data/All.mat']); |
---|
| 868 | end |
---|
| 869 | end |
---|
| 870 | end |
---|
| 871 | % build the whole image |
---|
| 872 | PlanePara = reshape(PlanePara,3,[]); |
---|
| 873 | %any(any(isnan(PlanePara))) |
---|
| 874 | % porject the ray on planes to generate the ProjDepth |
---|
| 875 | FitDepthPPCP = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 876 | FitDepthPPCP(~maskSkyEroded) = (1./sum(PlanePara(:,Sup2Para(SupEpand(~maskSkyEroded ))).*Ray(:,~maskSkyEroded ),1))'; |
---|
| 877 | FitDepthPPCP = reshape(FitDepthPPCP,Default.VertYNuDepth,[]); |
---|
| 878 | % storage for comparison purpose ====================== |
---|
| 879 | % depthMap = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 880 | % depthMap(~maskSkyEroded | mask) = (1./sum(PlanePara(:,TotalSup2Para(SupEpand(~maskSkyEroded | mask))).*RayOri(:,~maskSkyEroded | mask),1))'; |
---|
| 881 | % depthMap = reshape(depthMap,Default.VertYNuDepth,[]); |
---|
| 882 | % if baseline == 0 |
---|
| 883 | % system(['mkdir ' Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '/']); |
---|
| 884 | |
---|
| 885 | |
---|
| 886 | |
---|
| 887 | % save([Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '/' depthfile '.mat'],'depthMap'); |
---|
| 888 | % elseif baseline == 1 |
---|
| 889 | % system(['mkdir ' Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '_baseline/']); |
---|
| 890 | % save([Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '_baseline/' depthfile '.mat'],'depthMap'); |
---|
| 891 | % else |
---|
| 892 | % system(['mkdir ' Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '_baseline2/']); |
---|
| 893 | % save([Default.ScratchDataFolder '/' Name{i} '_' DepthFolder '_baseline2/' depthfile '.mat'],'depthMap'); |
---|
| 894 | % end |
---|
| 895 | |
---|
| 896 | % ===================================================== |
---|
| 897 | [Position3DFitedPPCP] = im_cr2w_cr(FitDepthPPCP,permute(Ray,[2 3 1])); |
---|
| 898 | if NoSecondStep %RenderVrmlFlag && i==3 |
---|
| 899 | Position3DFitedPPCP(3,:) = -Position3DFitedPPCP(3,:); |
---|
| 900 | Position3DFitedPPCP = permute(Position3DFitedPPCP,[2 3 1]); |
---|
| 901 | RR =permute(Ray,[2 3 1]); |
---|
| 902 | temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
---|
| 903 | PositionTex = permute(temp./repmat(cat(3,Default.a_default,Default.b_default),[Default.VertYNuDepth Default.HoriXNuDepth 1])+repmat(cat(3,Default.Ox_default,Default.Oy_default),[Default.VertYNuDepth Default.HoriXNuDepth 1]),[3 1 2]); |
---|
| 904 | PositionTex = permute(PositionTex,[2 3 1]) |
---|
| 905 | disp('First level Wrl'); |
---|
| 906 | WrlFacestHroiReduce(Position3DFitedPPCP,PositionTex,SupOri, [ Default.filename{1} '1st'],[ Default.filename{1} '1st'], ... |
---|
| 907 | Default.OutPutFolder, GridFlag, 0); |
---|
| 908 | system(['gzip -9 -c ' Default.OutPutFolder Default.filename{1} '1st.wrl > ' ... |
---|
| 909 | Default.OutPutFolder Default.filename{1} '1st.wrl.gz']); |
---|
| 910 | %system(['cp ' Default.OutPutFolder Default.filename{1} '1st.wrl.gz ' ... |
---|
| 911 | % Default.OutPutFolder Default.filename{1} '1st.wrl']); |
---|
| 912 | copyfile([ Default.OutPutFolder Default.filename{1} '1st.wrl.gz '], ... |
---|
| 913 | [ Default.OutPutFolder Default.filename{1} '1st.wrl'],'f'); |
---|
| 914 | delete([Default.OutPutFolder Default.filename{1} '1st.wrl.gz']); |
---|
| 915 | end |
---|
| 916 | |
---|
| 917 | if Catsh1stOptFlag |
---|
| 918 | disp([Default.ScratchFolder '/Catsh1stOpt_' Default.filename{1} '.mat']); |
---|
| 919 | save([Default.ScratchFolder '/Catsh1stOpt_' Default.filename{1} '.mat'],'NewPosiM','WeightsSelfTerm',... |
---|
| 920 | 'Center','NewCoPM','NewCoPMBound','NewCoPEstDepth',... |
---|
| 921 | 'NewHoriStickM','NewHoriStickMBound','NewEstDepHoriStick','NewWeightHoriNeighborStitch',... |
---|
| 922 | 'NewVertStickM','NewVertStickMBound','NewEstDepVertStick','NewWeightVertNeighborStitch',... |
---|
| 923 | 'PlanePara',... |
---|
| 924 | 'NuSubSupSize','YPointer','SubSup','ClosestDist','FarestDist','NewRayAllM',... |
---|
| 925 | 'PositionTex','SupOri','Ray','FarestDist','Sup2Para','SupEpand','maskSkyEroded'); |
---|
| 926 | return; |
---|
| 927 | end |
---|
| 928 | |
---|
| 929 | %return; |
---|
| 930 | %==================Finished for one step MRF========================================================================================================== |
---|
| 931 | |
---|
| 932 | if NoSecondStep |
---|
| 933 | return; |
---|
| 934 | end |
---|
| 935 | |
---|
| 936 | |
---|
| 937 | |
---|
| 938 | |
---|
| 939 | |
---|
| 940 | |
---|
| 941 | |
---|
| 942 | |
---|
| 943 | |
---|
| 944 | % ====================================following are 2nd step MRF to give more visually pleasing result======================================= |
---|
| 945 | ;% generating new PosiMPPCP using the new losition |
---|
| 946 | |
---|
| 947 | % save([Default.ScratchDataFolder '/data/VertShiftVrml.mat' ] ); |
---|
| 948 | % groundThreshold = cos(5*pi/180); % make small range |
---|
| 949 | % verticalThreshold = cos(50*pi/180); |
---|
| 950 | normPara = norms(PlanePara); |
---|
| 951 | normalizedPara = PlanePara ./ repmat( normPara, [3 1]); |
---|
| 952 | groundPara = abs(normalizedPara(2,:)) >= groundThreshold(YPosition); |
---|
| 953 | groundParaInd = find(groundPara); |
---|
| 954 | verticalPara = abs(normalizedPara(2,:)) <= verticalThreshold(YPosition); % change to have different range of vertical thre ================ |
---|
| 955 | verticalParaInd = find(verticalPara); |
---|
| 956 | |
---|
| 957 | indexVertical = find( verticalPara)*3-1; |
---|
| 958 | indexGroundX = find( groundPara)*3-2; |
---|
| 959 | indexGroundZ = find( groundPara)*3; |
---|
| 960 | |
---|
| 961 | PosiMPPCP = sparse(0,0); |
---|
| 962 | VarM2 = sparse(0,0); |
---|
| 963 | |
---|
| 964 | % forming new supporting matrix using new depth and get rid of the support of the vertical plane |
---|
| 965 | for i = NuSup |
---|
| 966 | mask = Sup == i; |
---|
| 967 | if any(verticalParaInd == Sup2Para(i)) & FlagRemoveVerticalSupport % add by Min Aug 14th |
---|
| 968 | mask = logical(zeros(size(Sup))); |
---|
| 969 | end |
---|
| 970 | PosiMPPCP = blkdiag(PosiMPPCP, Position3DFitedPPCP(:,mask)'); |
---|
| 971 | VarM2 = [VarM2; VarMap(mask)]; |
---|
| 972 | if length( find(isnan(PosiMPPCP)) ) |
---|
| 973 | disp('PosiMPPCP is NaN'); |
---|
| 974 | end |
---|
| 975 | end |
---|
| 976 | |
---|
| 977 | % Start Decompose image ========================= |
---|
| 978 | TotalRectX = 2*XNuDecompose-1; |
---|
| 979 | TotalRectY = 2*YNuDecompose-1; |
---|
| 980 | PlanePara = NaN*ones(3*NuSupSize,1); % setup the lookuptable for the solved plane parameter |
---|
| 981 | |
---|
| 982 | opt = sdpsettings('solver','sedumi','cachesolvers',1, 'verbose', solverVerboseLevel); |
---|
| 983 | % opt = sdpsettings('solver','lpsolve','cachesolvers',1); |
---|
| 984 | % opt = sdpsettings('solver','glpk','cachesolvers',1); |
---|
| 985 | |
---|
| 986 | for k = 0:(TotalRectX-1) |
---|
| 987 | l = rem(k*2,(TotalRectX)); |
---|
| 988 | RangeX = (1+ceil(Default.HoriXNuDepth/XNuDecompose)*l/2):... |
---|
| 989 | min((1+ceil(Default.HoriXNuDepth/XNuDecompose)*(l/2+1)),Default.HoriXNuDepth); |
---|
| 990 | RangeX = ceil(RangeX); |
---|
| 991 | for q = 0:(TotalRectY-1) |
---|
| 992 | l = rem(q*2,(TotalRectY)); |
---|
| 993 | RangeY = (1+ceil(Default.VertYNuDepth/YNuDecompose)*l/2):... |
---|
| 994 | min((1+ceil(Default.VertYNuDepth/YNuDecompose)*(l/2+1)),Default.VertYNuDepth); |
---|
| 995 | RangeY = ceil(RangeY); |
---|
| 996 | mask = zeros(size(Sup)); |
---|
| 997 | mask(RangeY,RangeX) = 1; |
---|
| 998 | mask =logical(mask); |
---|
| 999 | SubSup = sort(setdiff( unique( reshape( Sup(RangeY,RangeX),1,[])),0)); |
---|
| 1000 | BoundarySup = []; |
---|
| 1001 | BoundarySup = find(sum(SupNeighborTable(SubSup,:), 1) ~=0); |
---|
| 1002 | BoundarySup = unique(setdiff(BoundarySup,[0 SubSup] )); |
---|
| 1003 | |
---|
| 1004 | % chech if BoundarySup non-NaN in PlanePara |
---|
| 1005 | checkNoNNaN = ~isnan(PlanePara(Sup2Para(BoundarySup)*3)); |
---|
| 1006 | BoundarySup = BoundarySup(checkNoNNaN); |
---|
| 1007 | TotalSup = sort([SubSup BoundarySup]); |
---|
| 1008 | |
---|
| 1009 | SubSupPtr = [ Sup2Para(SubSup)*3-2;... |
---|
| 1010 | Sup2Para(SubSup)*3-1;... |
---|
| 1011 | Sup2Para(SubSup)*3]; |
---|
| 1012 | SubSupPtr = SubSupPtr(:); |
---|
| 1013 | BoundarySupPtr = [ Sup2Para(BoundarySup)*3-2;... |
---|
| 1014 | Sup2Para(BoundarySup)*3-1;... |
---|
| 1015 | Sup2Para(BoundarySup)*3]; |
---|
| 1016 | BoundarySupPtr =BoundarySupPtr(:); |
---|
| 1017 | NuSubSupSize = size(SubSup,2); |
---|
| 1018 | SubSup2Para = sparse(1,max(SubSup)); |
---|
| 1019 | SubSup2Para(SubSup) = 1:NuSubSupSize; |
---|
| 1020 | |
---|
| 1021 | % clearn RayAllM PosiM CoPM1 HoriStickM_i VertStickM_i |
---|
| 1022 | NewRayAllM = RayAllM(:,SubSupPtr); |
---|
| 1023 | tar = sum(NewRayAllM ~= 0,2) ==3; |
---|
| 1024 | NewRayAllM = NewRayAllM(tar,:); |
---|
| 1025 | |
---|
| 1026 | NewPosiMPPCP = PosiMPPCP(:,SubSupPtr); |
---|
| 1027 | tar = sum(NewPosiMPPCP ~= 0,2) ==3; |
---|
| 1028 | NewPosiMPPCP = NewPosiMPPCP(tar,:); |
---|
| 1029 | NewVarM = VarM2(tar); |
---|
| 1030 | |
---|
| 1031 | NewCoPM = CoPM1(:,SubSupPtr) - CoPM2(:,SubSupPtr); |
---|
| 1032 | NewCoPMBound = CoPM1(:,BoundarySupPtr) - CoPM2(:,BoundarySupPtr); |
---|
| 1033 | tar = sum( NewCoPM ~= 0,2) + sum( NewCoPMBound ~= 0,2) ==6; |
---|
| 1034 | NewCoPM = NewCoPM(tar,:); |
---|
| 1035 | NewCoPMBound = NewCoPMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 1036 | NewCoPMBound = NewCoPMBound(tar); |
---|
| 1037 | NewCoPEstDepth = CoPEstDepth(tar); |
---|
| 1038 | |
---|
| 1039 | NewHoriStickM = HoriStickM_i(:,SubSupPtr)-HoriStickM_j(:,SubSupPtr); |
---|
| 1040 | NewHoriStickMBound = HoriStickM_i(:,BoundarySupPtr)-HoriStickM_j(:,BoundarySupPtr); |
---|
| 1041 | tar = sum(NewHoriStickM ~= 0,2) + sum( NewHoriStickMBound ~= 0,2)==6; |
---|
| 1042 | NewHoriStickM = NewHoriStickM(tar,:); |
---|
| 1043 | NewHoriStickMBound = NewHoriStickMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 1044 | NewHoriStickMBound = NewHoriStickMBound(tar); |
---|
| 1045 | NewEstDepHoriStick = EstDepHoriStick(tar); |
---|
| 1046 | NewWeightHoriNeighborStitch = WeightHoriNeighborStitch(tar); |
---|
| 1047 | |
---|
| 1048 | NewVertStickM = VertStickM_i(:,SubSupPtr)-VertStickM_j(:,SubSupPtr); |
---|
| 1049 | NewVertStickMBound = VertStickM_i(:, BoundarySupPtr)-VertStickM_j(:,BoundarySupPtr); |
---|
| 1050 | tar = sum(NewVertStickM ~= 0,2) + sum(NewVertStickMBound ~= 0,2)==6; |
---|
| 1051 | NewVertStickM = NewVertStickM(tar,:); |
---|
| 1052 | NewVertStickMBound = NewVertStickMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 1053 | NewVertStickMBound = NewVertStickMBound(tar); |
---|
| 1054 | NewEstDepVertStick = EstDepVertStick(tar); |
---|
| 1055 | NewWeightVertNeighborStitch = WeightVertNeighborStitch(tar); |
---|
| 1056 | |
---|
| 1057 | % try reduce the vertical constrain |
---|
| 1058 | NonVertPtr = setdiff( 1:(3*NuSubSupSize), SubSup2Para( NuSup( (intersect( indexVertical,SubSupPtr ) +1)/3))*3-1 ); |
---|
| 1059 | YNoComingBack = YPointer(Sup2Para(SubSup)); |
---|
| 1060 | YNoComingBack(SubSup2Para( NuSup( (intersect( indexVertical,SubSupPtr ) +1)/3))) = []; |
---|
| 1061 | YCompMask = zeros(1,3*NuSubSupSize); |
---|
| 1062 | YCompMask(3*(1:NuSubSupSize)-1) = 1; |
---|
| 1063 | YCompMask = YCompMask(NonVertPtr); |
---|
| 1064 | XCompMask = zeros(1,3*NuSubSupSize); |
---|
| 1065 | XCompMask( SubSup2Para( NuSup( (intersect( indexGroundX,SubSupPtr ) +2)/3))*3-2 ) = 1; |
---|
| 1066 | XCompMask = XCompMask(NonVertPtr); |
---|
| 1067 | ZCompMask = zeros(1,3*NuSubSupSize); |
---|
| 1068 | ZCompMask( SubSup2Para( NuSup( (intersect( indexGroundZ,SubSupPtr ) )/3))*3 ) = 1; |
---|
| 1069 | ZCompMask = ZCompMask(NonVertPtr); |
---|
| 1070 | GroundMask = intersect( find(groundPara), ( SubSupPtr( 3:3:( size(SubSupPtr,1)) )/3 ) ) ; |
---|
| 1071 | |
---|
| 1072 | if NOYALMIP |
---|
| 1073 | Para = sdpvar( size(NonVertPtr',1),1); |
---|
| 1074 | F = set(Para( logical(YCompMask)).*YNoComingBack<=0)... |
---|
| 1075 | +set(NewRayAllM(:, NonVertPtr)*Para <=1/ClosestDist)... |
---|
| 1076 | +set(NewRayAllM(:, NonVertPtr)*Para >=1/FarestDist); |
---|
| 1077 | |
---|
| 1078 | fprintf([ ' ' num2str( toc(inferenceTime) ) '\n : In 2nd level Optimization, using ' opt.solver '. ' ... |
---|
| 1079 | '(' num2str(k+1) '/' num2str((TotalRectX-1)+1) ',' num2str(l+1) '/' num2str((TotalRectY-1)+1) ')']); |
---|
| 1080 | |
---|
| 1081 | sol=solvesdp(F,norm( ( NewPosiMPPCP(:, NonVertPtr)*Para-ones(size(NewPosiMPPCP,1),1))./exp(abs(NewVarM)/BandWith),1)... |
---|
| 1082 | +Center*norm(( NewCoPM(:, NonVertPtr)*Para + NewCoPMBound).*NewCoPEstDepth, 1)... |
---|
| 1083 | +norm(( NewHoriStickM(:, NonVertPtr)*Para + NewHoriStickMBound).*... |
---|
| 1084 | NewEstDepHoriStick.*NewWeightHoriNeighborStitch,1)... |
---|
| 1085 | +norm(( NewVertStickM(:, NonVertPtr)*Para + NewVertStickMBound).*... |
---|
| 1086 | NewEstDepVertStick.*NewWeightVertNeighborStitch,1)... |
---|
| 1087 | +10*norm( ( Para( logical(XCompMask) ))./... |
---|
| 1088 | normPara( GroundMask )', 1)... |
---|
| 1089 | +10*norm( ( Para( logical(ZCompMask)))./... |
---|
| 1090 | normPara( GroundMask )', 1) ... |
---|
| 1091 | , opt); |
---|
| 1092 | |
---|
| 1093 | Para = double(Para); |
---|
| 1094 | %sum(isnan(Para)) |
---|
| 1095 | yalmip('clear'); |
---|
| 1096 | tempPara = zeros(3*NuSubSupSize,1); |
---|
| 1097 | tempPara(NonVertPtr) = Para; |
---|
| 1098 | PlanePara(SubSupPtr) = tempPara; |
---|
| 1099 | |
---|
| 1100 | elseif NEW_OPTIMIZATION |
---|
| 1101 | % version written by Ashutosh |
---|
| 1102 | |
---|
| 1103 | tempGroundX = sparse(1:length(XCompMask), 1:length(XCompMask), XCompMask); |
---|
| 1104 | tempGroundX( logical(XCompMask) ) = tempGroundX( logical(XCompMask) )./normPara( GroundMask ); |
---|
| 1105 | tempGroundX( sum(tempGroundX,2) == 0,:) = []; |
---|
| 1106 | tempGroundZ = sparse(1:length(ZCompMask), 1:length(ZCompMask), ZCompMask ); |
---|
| 1107 | tempGroundZ( logical(ZCompMask) ) = tempGroundZ( logical(ZCompMask) )./normPara( GroundMask ); |
---|
| 1108 | tempGroundZ( sum(tempGroundZ,2) == 0,:)= []; |
---|
| 1109 | |
---|
| 1110 | A = [ sparse(1:length(NewVarM),1:length(NewVarM),1./exp(abs(NewVarM)/BandWith)) * NewPosiMPPCP(:, NonVertPtr);... |
---|
| 1111 | sparse(1:length(NewCoPEstDepth), 1:length(NewCoPEstDepth), NewCoPEstDepth * Center) * NewCoPM(:, NonVertPtr);... |
---|
| 1112 | sparse(1:length(NewEstDepHoriStick), 1:length(NewEstDepHoriStick), NewEstDepHoriStick.*NewWeightHoriNeighborStitch) * NewHoriStickM(:, NonVertPtr);... |
---|
| 1113 | sparse(1:length(NewEstDepVertStick), 1:length(NewEstDepVertStick), NewEstDepVertStick.*NewWeightVertNeighborStitch) * NewVertStickM(:, NonVertPtr);... |
---|
| 1114 | tempGroundX;... |
---|
| 1115 | tempGroundZ... |
---|
| 1116 | % +10*norm( ( Para( logical(XCompMask) ))./... |
---|
| 1117 | % normPara( GroundMask )', 1)... |
---|
| 1118 | % +10*norm( ( Para( logical(ZCompMask)))./... |
---|
| 1119 | % normPara( GroundMask )', 1) ... |
---|
| 1120 | ]; |
---|
| 1121 | |
---|
| 1122 | %whos A |
---|
| 1123 | b = [ 1./exp(abs(NewVarM)/BandWith); ... |
---|
| 1124 | -Center*NewCoPMBound.*NewCoPEstDepth; ... |
---|
| 1125 | -NewHoriStickMBound.*NewEstDepHoriStick.*NewWeightHoriNeighborStitch;... |
---|
| 1126 | -NewVertStickMBound.*NewEstDepVertStick.*NewWeightVertNeighborStitch;... |
---|
| 1127 | sparse(size(tempGroundX,1),1);... |
---|
| 1128 | sparse(size(tempGroundZ,1),1)... |
---|
| 1129 | ]; |
---|
| 1130 | |
---|
| 1131 | temp = YCompMask; |
---|
| 1132 | temp(logical(YCompMask)) = YNoComingBack; |
---|
| 1133 | temp = sparse(1:length(temp), 1:length(temp), temp); |
---|
| 1134 | temp( sum(temp,2) ==0,:) = []; |
---|
| 1135 | S = [ temp;... |
---|
| 1136 | NewRayAllM(:,NonVertPtr);... |
---|
| 1137 | -NewRayAllM(:,NonVertPtr);... |
---|
| 1138 | ]; |
---|
| 1139 | inq = [ sparse(size(temp,1), 1);... |
---|
| 1140 | - 1/ClosestDist*ones(size(NewRayAllM,1),1);... |
---|
| 1141 | 1/FarestDist*ones(size(NewRayAllM,1),1);... |
---|
| 1142 | ]; |
---|
| 1143 | |
---|
| 1144 | Para.ClosestDist = ClosestDist; |
---|
| 1145 | Para.FarestDist = FarestDist; |
---|
| 1146 | |
---|
| 1147 | % build up ptry and ptrz adapt fot NonVertPtr |
---|
| 1148 | Para.ptry = zeros(size(NewRayAllM,2),1); |
---|
| 1149 | Para.ptry(2:3:size(NewRayAllM,2)) = 1; |
---|
| 1150 | Para.ptry = logical(Para.ptry(NonVertPtr)); |
---|
| 1151 | Para.ptrz = zeros(size(NewRayAllM,2),1); |
---|
| 1152 | Para.ptrz(3:3:size(NewRayAllM,2)) = 1; |
---|
| 1153 | Para.ptrz = logical(Para.ptrz(NonVertPtr)); |
---|
| 1154 | |
---|
| 1155 | Para.Dist_Start = size(temp,1)+1; |
---|
| 1156 | |
---|
| 1157 | % xsedumi = sdpvar( size(A,2), 1); |
---|
| 1158 | % opt = sdpsettings('solver','sedumi','cachesolvers',1, 'verbose', 0); |
---|
| 1159 | % F = set(S*xsedumi+inq<=0); |
---|
| 1160 | % fprintf('Solving second step using Sedumi in A,b,S,inq form'); |
---|
| 1161 | % sol = solvesdp(F, norm(A*xsedumi-b, 1),opt); |
---|
| 1162 | % Para = double(xsedumi); |
---|
| 1163 | % yalmip('clear'); |
---|
| 1164 | |
---|
| 1165 | % fprintf([ ' Starting new solver at: ' num2str( toc(inferenceTime) ) '\n ']); |
---|
| 1166 | [x_ashIterator, alfa, status] = SigmoidLogBarrierSolver(Para, [], [], [], '', [], [], solverVerboseLevel); |
---|
| 1167 | if any(S*x_ashIterator+inq > 0 ) |
---|
| 1168 | disp('Inequality not satisfied'); |
---|
| 1169 | max( S*x_ashIterator+inq) |
---|
| 1170 | elseif status==2 |
---|
| 1171 | fprintf([' Success with alfa=' num2str(alfa)]); |
---|
| 1172 | end |
---|
| 1173 | % fprintf([ ' Finished new solver at: ' num2str( toc(inferenceTime) ) '\n ' ]); |
---|
| 1174 | |
---|
| 1175 | Para = x_ashIterator; |
---|
| 1176 | |
---|
| 1177 | |
---|
| 1178 | tempPara = zeros(3*NuSubSupSize,1); |
---|
| 1179 | tempPara(NonVertPtr) = Para; |
---|
| 1180 | PlanePara(SubSupPtr) = tempPara; |
---|
| 1181 | |
---|
| 1182 | |
---|
| 1183 | end |
---|
| 1184 | |
---|
| 1185 | |
---|
| 1186 | end |
---|
| 1187 | end |
---|
| 1188 | |
---|
| 1189 | %pause |
---|
| 1190 | PlanePara = reshape(PlanePara,3,[]); |
---|
| 1191 | FitDepth = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 1192 | FitDepth(~maskSkyEroded) = (1./sum(PlanePara(:,Sup2Para(SupEpand(~maskSkyEroded))).*Ray(:,~maskSkyEroded),1))'; |
---|
| 1193 | FitDepth = reshape(FitDepth,Default.VertYNuDepth,[]); |
---|
| 1194 | |
---|
| 1195 | % ==========Storage ============== |
---|
| 1196 | if Default.Flag.AfterInferenceStorage |
---|
| 1197 | save([ Default.ScratchFolder '/' strrep( Default.filename{1},'.jpg','') '_AInfnew.mat' ], 'FitDepth', 'depthMap', ... |
---|
| 1198 | 'Sup', 'SupOri', 'MedSup', 'RayOri','Ray','SupNeighborTable','maskSky','maskG','MultiScaleSupTable','WeiM','VarMapRaw'); |
---|
| 1199 | end |
---|
| 1200 | % =============================== |
---|
| 1201 | %sum(isnan(FitDepth(:))) |
---|
| 1202 | [Position3DFited] = im_cr2w_cr(FitDepth,permute(Ray,[2 3 1])); |
---|
| 1203 | Position3DFited(3,:) = -Position3DFited(3,:); |
---|
| 1204 | Position3DFited = permute(Position3DFited,[2 3 1]); |
---|
| 1205 | RR =permute(Ray,[2 3 1]); |
---|
| 1206 | temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
---|
| 1207 | PositionTex = permute(temp./repmat(cat(3,Default.a_default,Default.b_default),... |
---|
| 1208 | [Default.VertYNuDepth Default.HoriXNuDepth 1])... |
---|
| 1209 | +repmat(cat(3,Default.Ox_default,Default.Oy_default),... |
---|
| 1210 | [Default.VertYNuDepth Default.HoriXNuDepth 1]),[3 1 2]); |
---|
| 1211 | PositionTex = permute(PositionTex,[2 3 1]); |
---|
| 1212 | |
---|
| 1213 | |
---|
| 1214 | if true % Min changed back to true from Aug 14th |
---|
| 1215 | fprintf([' ' num2str( toc(inferenceTime) ) '\n : Writing WRL.']); |
---|
| 1216 | WrlFacestHroiReduce(Position3DFited, PositionTex, SupOri, Default.filename{1}, Default.filename{1}, ... |
---|
| 1217 | Default.OutPutFolder, GridFlag, 0); |
---|
| 1218 | |
---|
| 1219 | system(['gzip -9 -c ' Default.OutPutFolder Default.filename{1} '.wrl > ' ... |
---|
| 1220 | Default.OutPutFolder Default.filename{1} '.wrl.gz']); |
---|
| 1221 | %system(['cp ' Default.OutPutFolder Default.filename{1} '.wrl.gz ' ... |
---|
| 1222 | % Default.OutPutFolder Default.filename{1} '.wrl']); |
---|
| 1223 | copyfile([Default.OutPutFolder Default.filename{1} '.wrl.gz'], ... |
---|
| 1224 | [Default.OutPutFolder Default.filename{1} '.wrl'],'f'); |
---|
| 1225 | delete([Default.OutPutFolder Default.filename{1} '.wrl.gz']); |
---|
| 1226 | end |
---|
| 1227 | % Trial for segmentaion of the plane parameters |
---|
| 1228 | if PlaneParaSegmentationFlag |
---|
| 1229 | TempSup = Sup;%imresize(Sup,[330 610]); |
---|
| 1230 | TempSup(TempSup==0) = max(TempSup(:))+1; |
---|
| 1231 | TempSup2Para = Sup2Para; |
---|
| 1232 | TempSup2Para(end+1) = size(PlanePara,2); |
---|
| 1233 | TempPlanePara = PlanePara; |
---|
| 1234 | TempPlanePara(:,end+1) = 0; |
---|
| 1235 | PlaneParaPics = TempPlanePara(:,TempSup2Para( TempSup)); |
---|
| 1236 | PlaneParaPics = PlaneParaPics./repmat( 2*max(abs(PlaneParaPics),[],2), 1, size(PlaneParaPics,2)); |
---|
| 1237 | PlaneParaPics2 = permute( reshape( PlaneParaPics, 3, 55, []), [2 3 1])+0.5; |
---|
| 1238 | MergedPlaneParaPics = segmentImgOpt( Default.sigm*scale, Default.k*scale, Default.minp*10*scale, PlaneParaPics, '', 0) + 1; |
---|
| 1239 | if Default.Flag.DisplayFlag |
---|
| 1240 | figure(400); |
---|
| 1241 | imaegsc( PlaneParaPics); |
---|
| 1242 | imaegsc( MergedPlaneParaPics); |
---|
| 1243 | end |
---|
| 1244 | save('/afs/cs/group/reconstruction3d/scratch/testE/PlaneParaPics2.mat','PlaneParaPics2','MergedPlaneParaPics'); |
---|
| 1245 | end |
---|
| 1246 | % save depth Map ++++++++++++++++ |
---|
| 1247 | % depthMap = FitDepth; |
---|
| 1248 | % system(['mkdir ' Default.ScratchDataFolder '/VNonSupport_' DepthFolder '/']); |
---|
| 1249 | % save([Default.ScratchDataFolder '/VNonSupport_' DepthFolder '/' depthfile '.mat'],'depthMap'); |
---|
| 1250 | % ============================= |
---|
| 1251 | % return; |
---|